import math

from mujoco_py import load_model_from_path, MjSim, MjViewer

model = load_model_from_path("humanoid.xml")
sim = MjSim(model)
viewer = MjViewer(sim)
t = 0
while True:
    act_0 = math.cos(t / 10.) * 1
    print(act_0)
    sim.data.ctrl[9] = act_0
    sim.step()
    viewer.render()
    t += 1
    print()
